軌道上サービス技術実証プラットフォーム（SATDyn）を用いた力覚フィードバックによるハイブリッドシミュレーション

抄録

This paper describes about the hybrid simulation result of the debris capturing motion using Satellite Dynamics test platform for on-orbit service (SATDyn), which is being developed at JAXA. Based on the simplectic integration scheme, the hybrid simulation can be conducted without any oscillation due to the system delay. The preliminary evaluation experiment using the actual capturing device and the actual size of the debris has been conducted to evaluate the availability of this algorithm. The motion regarding to the capturing satellite center of gravity is well simulated and the reactive motion of the contact due to capturing is also simulated without any anomaly.